Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Hu, Junyan; Turgut, Ali Emre; Lennox, Barry; Arvin, Farshad

Abstract

Coordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strategy for networked robot swarms subjected to nonlinear dynamics and unknown disturbances. Firstly, a robust adaptive formation coordination protocol is proposed for robot swarms, which utilizes only local information for tracking a dynamic target with uncertain maneuvers. A rigorous theoretical proof utilizing the Lyapunov stability approach is then provided to guarantee the control performance. Towards the end, real-time hardware experiments with wheeled mobile robots are conducted to validate the robustness and feasibility of the proposed formation coordination approach.

Citation

Hu, J., Turgut, A. E., Lennox, B., & Arvin, F. (2022). Robust Formation Coordination of Robot Swarms With Nonlinear Dynamics and Unknown Disturbances: Design and Experiments. IEEE Transactions on Circuits and Systems II: Express Briefs, 69(1), 114-118. https://doi.org/10.1109/tcsii.2021.3074705

• Journal Article Type: Article
• Acceptance Date: Apr 15, 2021
• Online Publication Date: Apr 21, 2021
• Publication Date: 2022-01
• Deposit Date: May 27, 2022
• Journal: IEEE Transactions on Circuits and Systems II: Express Briefs
• Print ISSN: 1549-7747
• Electronic ISSN: 1558-3791
• Publisher: Institute of Electrical and Electronics Engineers
• Volume: 69
• Issue: 1
• Pages: 114-118
• DOI: https://doi.org/10.1109/tcsii.2021.3074705
• Public URL: https://durham-repository.worktribe.com/output/1205426